6 papers · 1 filter
CoCoBench: A Cooperative Coordination Benchmark for Embodied Multi-Agent Task Planning
Yang Chen, Ye-Xin Xie, Lirong Che +8
Agent systems powered by multimodal large language models (MLLMs) have advanced rapidly in recent years, yet existing embodied-agent benchmarks still lack fine-grained diagnostics…
TemporalFlow-VLA: Learning Physically Grounded Execution History for Long-Horizon Robot Manipulation
Jiarui Yang, Yehao Lu, Yuning Su +9
Vision-language-action (VLA) models leverage pretrained vision-language representations for robot control, yet simply adding historical frames does not reliably capture recent phys…
Multi-View Unified Camera Fields: Geometry-Shaped Action-Facing Representations for RGB-Only Multi-Camera VLA Policies
Jiarui Yang, Yehao Lu, Yuning Su +9
Vision-Language-Action (VLA) models have shown strong generalization in robotic manipulation, yet complex contact-rich tasks often benefit from multi-camera observations that joint…
CAAT: Contact-Aware Attention Scaling and Tactile Masking for Data-Efficient Contact-Rich Manipulation
Jiaming Jiang, Yuzhe Huang, Hao Liang +7
In contact-rich manipulation, visual observations primarily guide motion in free space, whereas tactile observations become particularly informative during contact. However, standa…
TaF-VLA: Tactile-Force Alignment in Vision-Language-Action Models for Force-aware Manipulation
Yuzhe Huang, Pei Lin, Wanlin Li +5
Vision-Language-Action (VLA) models have recently emerged as powerful generalists for robotic manipulation. However, due to their predominant reliance on visual modalities, they fu…
PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands
Pei Lin, Yuzhe Huang, Wanlin Li +3
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardwa…